Path Integral Guided Policy Search

3 Oct 2016Yevgen ChebotarMrinal KalakrishnanAli YahyaAdrian LiStefan SchaalSergey Levine

We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique called guided policy search (GPS), which iteratively optimizes a set of local policies for specific instances of a task, and uses these to train a complex, high-dimensional global policy that generalizes across task instances... (read more)

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